文献类型：期刊文献

中文题名：四旋翼自主飞行器的控制器设计与仿真

英文题名：Controller Design and Simulation for Unmanned Quadrotor Vehicle

作者：杜红彬[1];江哲[1];徐芳俊[1]

机构：[1]华东理工大学信息科学与工程学院,上海200237

年份：2016

卷号：35

期号：3

起止页码：83

中文期刊名：测控技术

外文期刊名：Measurement & Control Technology

收录：CSTPCD;;CSCD:【CSCD_E2015_2016】；

语种：中文

中文关键词：四旋翼;自主飞行器;六自由度

外文关键词：quadrotor; unmanned aerial vehicle; six degrees of freedom

摘要：四旋翼自主飞行器是一类具有强耦合性和欠驱动特点的空中机器人。从空气动力学和飞行运动学两方面分析并建立了其机理模型,提出了相应的参数辨识方法。根据模型的串级结构,设计了一种新型的控制器,在考虑白噪声的影响下建立了Simulink仿真并验证了该控制方案的稳定性和鲁棒性。
As a kind of unmanned aerial vehicles,quadrotor has the highly coupled and underactuated features.The physical model for quadrotor vehicles is presented based on the aerodynamics and the flight kinematics.Hereafter,a method for identifying the parameters of the model is proposed.Based on the cascading structure,a new controller is constructed,and the stability and robustness of the presented controller are verified through Simulink while considering the white noise.